Delay circuit for &#34;on-off&#34; servo system



March 10, 1959 M. HANSBURG 2, 7

DELAY CIRCUIT FOR "ON-OFF" SERVO SYSTEM Filed Dec. so, 1955 H0 VOLTS 400 CYCLES 15 is OFF i i ON? s1 cvxl w in l q S T i I 11 10 12 ca 1 12o w- Fl g. 1 PS2 OFF POWER CE TO LOAD INVENTOR. MILTON HANSBURG m Lizgu United States Patent 2,877,401 DELAY CIRCUIT FOR ON-OFF" SERVO SYSTEM Milton Ilansburg, Weisel, Pat Application December 30, 1955, Serial No. 556,753 5 Claims. (Cl. 318-400) (Granted under Title 35, U. 8. Code (1952), sec. 26 6) motoror other load device. In certain types of servo systems it is necessary to reduce the acceleration of the initial motion of the servo motor. For example, reduced acceleration is required in the third axis servo motor of magnetic anomaly detectionv equipment in the orientationof the magnetometer so as to permit the inner axis driven by a separate motortto follow within three minutes angular error the motionpf the third axis. Should the third axis be initially accelerated at an excessive rate, the inner axis carrying the magnetometer will be unable to follow this closely in the initial stage. Thermistors have been used to accomplish this delay in. such servo systems and haveproved successful in their initial use. However, once heated by the passage of current the thermistors require a recovery period about ten longer than the heatingflperiod. Therefore, in cases where the third axis dutycycle would not permit such along recovery period the thermistor proves inadequate. r

Ihe prese nt invention seeks to overcome the disadvantages or prior delay circuits in on-ofi servo systems by using a pair of crystal rectifiers in coniunction with a pair oi charging condensers which act to delay the applicationof the full voltage to the servo motor during the period it takes for the condensers to be charged.

-An object of the present invention is the provision or a delay circuit which may be utilized with an on-oti servo" system to reduce the acceleration of the initial motion.

Another object is to provide a coupling circuit which delays initially the transmission at run A. c. voltage applied to the input of a load device.

A further. artifice; o; the invention is the provision of a circuit 'c'o'ii stin c an' R-C network and at least one diode for preventing the instantaneous building up of :current and. voltage in a designated input.

additional object of the present invention is the provision ofa simple on-ofi servo system including a servo motor, :a delay circuit for reducing accelerationfin 1: initial motion of the servo motor utilizing a pair at diodes in combination with a pair of condensers, and a three position switching arrangement permitting the selection of direction of motion of the servo motor and an ofi position permitting the discharge of the delay circuit thereby leaving the delay circuit in a position to be immediately eflective, upon actuation of the switch to one or two of the other positions.

The exact nature of this invention as well as other objects and advantages thereof will hereadily apparent ICC patented Mar. 10, 1959 from consideration of the following specification relating to the annexed drawing in which:

Fig. 1 shows a preferred embodiment of the invention;

and

Fig. 2 illustrates another embodiment of the invention.

Fig. 1 shows one specific form of the invention in which a 110 volt, 400 cycle per second power supply is supplied to coils I, and I of servo motor 10. Variable phase coil I is supplied through the micro switches S or S, and the circuit illustrated; while fixed phase coil I is provided with the 110 volt, 400 cycle voltage power directly. The direction-30f rotation for servo motor 10 is dependent upon the relative phase difference between the voltage supplied to coil 1 and the coil 1 If 'the signal supplied across coil I leads in phase by 90' the voltage supplied across 1 servo motor 10 will rotatein one direction. If the voltage supplied across I, is, however, shifted 180,then the servo motor will rotate in the opposite direction. Micro switches S and S3 are selected so that each of these switches upon closing delivers the voltage across coil I 180 apart in phase.

'Thus, the selection of switch S or S, determines the direction of rotation of servo motor 10.

Switch S is constructed of a pair of movable contacts 11 and 12 which are ganged to move between the "on" and o positions illustrated. Switch 5; is of identical construction with 8,, however, the on" contacts on each switch are connected to the power source in opposite senses to provide for reverse rotation of motor 10.

The delay circuit is interposed between the micro switches and coil 1 of servo motor 10, which are joined by lines 13 and 14. A pair or lines 15 and 16 shunt coil I and carry capacitor C and diode X in the former and capacitor C and diode X, in the latter. Diodes X and X, may be crystals or any other conventional uniflow device. It will be noted that the capacitor and diode in each of the two parallel connections 15 and 16 are oppositely poled for the reasons explained further below. Also included in'the line between switch S and one end of coil 1; is a resistor R It will be noted 'that two center taps 17 and 18 are provided between crystal X and capacitor C in connection 15 and dapacitor C, and crystal X: of connection 16. These center" taps are connected by lines 19 and 20, respectviely, to; p the "o positions of micro switch S A resistor R, is --'provided in line 19. Condensers C, and C located in line 14 and across coil 1 respectively, cause the 90 phase shift in the signal applied to this coil.

The operation of this circuit is as follows:

When switch S is closed, the 110 v. power supply is placed across lines 13 and 14 leading to coil 1 During one-half of the cycle the negative portion of the wave is directed to capacitor C through diode X while the' positive portion of the wave is sent to capacitor .C: 1

through the crystal rectifier X, which in efiect shorts out via condensers O and C, the input circuit to the variable field I; of servo motor 10. This action occurs on both halves of the cycle until the condensers C and C; approach their final charge at which time rectifiers'. X and X, are rendered non-conducting and the full 110" Woltrsuppiy ispermitted to reach the variable field 'of .the servo motor. For example, after condensers C and C, are fully charged, the negative half of the cycle placed on line 14 to the eathodeof crystal X will not be directed to the capacitor 0, because crystal X, has been rendered non-conducting by the negative charge on condenser C; facing the-anode of crystal X Therefore, the negative half of the. cycle would be applied through the coil I; of the servo motor.

when switch S is opened to terminate the operation or ser o motor 10,. it will. be seen that. l nes 19 god 2 connected to the center taps 17 and 18 will permit condensers C and C, to be discharged because the latter are shorted out y h wiring wi h switches Si and Sa In. their non-power positions.

Closing of swit h S instead of switch Si r 6 the phase of the power supply supplied to coil 1;, therefore shifting e Phase relationship between it and the pow supply applied to coil 1,, of the servo motor. This causes rotation of servo motorltl in the, opposite direction. Thus. it is seen that the above arrangement provides hree operating conditions:

(1) Switches S; and S5 open as illustrated. it] whi h case n power is supplied to mot r Wand. a. discharge path is ,rovided for capacitors C1 andQ (2.) S c 51 open, switch S2 cl sed. i hich. the 4 00. cycle P er supp y s conn ed to g ser o mo on n s si n irecti n; the condenser dischar e nat s. ar

el y i c it may e found ap licablet o h oads in addition to the servo motor illustrated,

An alternate arran ment for accomp ishin the ela described above is shown in Eis- Lines crim s are connected from the power source to a load, such s. or ex mp e, o il of servo moto 0 as. n. t arrangemen illustra d in Fig. Coun ctcd across ines 21. n 2 is a p ir of it-P 88 nes. 2.3 and 1 contai i g r sp c e y rystal diode X3 and condenser C; in the first shunt and a crystal X and it condenser C in the second shunt. Across the center taps of each.

of the parallel circuits is connected is high resisfiyc value resistor s, as. illustrated en power is applied. across. n s 21 and 2.2 i ill be seen. hat. d r ng me n a half of the cycle on. line. 21 onlydiode X is rendered conducting; thus capacitor C, .is be ne harged during this half of the cycle. During the next hall. 91; the cycle only diode X is rendered conducting, and apacitor C is hen in the process of charged. the. portion, of the cycle when diode Xe is not. conductin and apacitor c. is partially or tally har ed of course. there will he a tendency for capacitor C, to. discharge through R However, because of the very high resistive value of R, this discharging. cflfcct is, kept at a, low value and does not affect. th m it me-operation of; the. circuit. when, condensers C and C, become fullychargcd otter an interval of time, detectors )fiandX remain non ondu ting at all imes and the newer supply is-dlreetedhro gh coil- 11 of ervo mo o 10.- The ar an of Fig. 2 has the advantage of a mplified switching equ rem nt h i ischarge c paci or C5 nd C8 during the. ofi neriodwi hout the need to: addit o a wi s durinsfl P i iii weven. o e. disadva se at a rangement is that. r sistor R1, in the i cuit during. the on pe iod, reduces he. powerava lable, to the servo motor.

It isthus seen. that there has heeaprovided'pn Ref? 4 delay circuit tot use with alternating. current. oads. Q r viously, many modifications and variations of the preseut invention are possible in the light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims the invention may be practiced otherwise than as specifically described.

What is claimed is: I

1... A. delay circuit for a servo system. comp ising. a. servo motor having a variable field, power supply means for said variable field including switch ineans, and circuit ean in e pos d between said switch means and s id field for delaying the full application of power to said field upon placing said switchmeans ina power delivery P si ion, said circuit mean ncluding diode nd sapac tance means across said motor field.

2. A delay circuit for a servo system comprising a servo motor having a variable field, power supply means for said variable field including switch means, circuit means interposed between said switch means and said field for delaying the full application of power to said field upon placing said switch means in a powerd'elivery position, said delay circuit means including diode and capacitance means across said motor field, and menus controlled by said switch means for discharging said onpacitance means upon disconnecting said power means thereby readying said delay circuit for the next application ofpower to said variableileld.

3. A delay circuit for a servo system comp-rising a servomotor having a variable field, power supply means for said variable field including switch means, circuit means interposed between said switch means and said field for delaying the full application of power to said field upon placing saidswitch means in a power delivery position, said delay circuit means comprising aipair of i shunts acrossnsaid variable field, each said shunt consisting of a. diode. and capacitor in series, and means connected to the point on each said shunt between said capacitor and diqdefor permitting complete discharge'ot said capacitors upon placing said switch means-in a no powerposition.

a, A delay circuit comprising a conductor having a Power end and a. load end and including a resistance lement pair of shunt-lines. across said load end,- of said line's provided with a, diode and capacitorin series. oppositely situated and said diodes oppositelypoled,

nd selector means for discharging said: capacitor-a through" said resistance element.

.5- A delay: circuit comprising a conductor hav mg-a po r cnd and a load. end andi s resistance cl sna o 11 11} time across said load and and i t 9i 1 l lines pro ideda d ode and cap c to in s es. on oly himed and sa d dio es oppositely pole... when; me ns across. ro end. ct orig:

circuit having. at least a i st nnwc posi on su -s position for discharg ng said apaci s sistance element.

References Ctteddn the tile of this patent UNITED STATE TBNTI'S Hawkins et al. May 29,1951 

